CN106134308A - Cut-out clenches device and to substrate operation machine - Google Patents
Cut-out clenches device and to substrate operation machine Download PDFInfo
- Publication number
- CN106134308A CN106134308A CN201480077587.4A CN201480077587A CN106134308A CN 106134308 A CN106134308 A CN 106134308A CN 201480077587 A CN201480077587 A CN 201480077587A CN 106134308 A CN106134308 A CN 106134308A
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- movable piece
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- lead
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- 239000000758 substrate Substances 0.000 title claims abstract description 48
- 238000004519 manufacturing process Methods 0.000 claims abstract description 40
- 238000000926 separation method Methods 0.000 claims abstract description 4
- 238000003860 storage Methods 0.000 description 12
- 238000005452 bending Methods 0.000 description 6
- 238000005520 cutting process Methods 0.000 description 5
- 239000007787 solid Substances 0.000 description 3
- 230000009466 transformation Effects 0.000 description 2
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 238000007514 turning Methods 0.000 description 1
- 210000001215 vagina Anatomy 0.000 description 1
Classifications
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0473—Cutting and clinching the terminal ends of the leads after they are fitted on a circuit board
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/0015—Orientation; Alignment; Positioning
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/0061—Tools for holding the circuit boards during processing; handling transport of printed circuit boards
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/02—Manufacture or treatment of semiconductor devices or of parts thereof
- H01L21/04—Manufacture or treatment of semiconductor devices or of parts thereof the devices having potential barriers, e.g. a PN junction, depletion layer or carrier concentration layer
- H01L21/48—Manufacture or treatment of parts, e.g. containers, prior to assembly of the devices, using processes not provided for in a single one of the subgroups H01L21/06 - H01L21/326
- H01L21/4814—Conductive parts
- H01L21/4821—Flat leads, e.g. lead frames with or without insulating supports
- H01L21/4842—Mechanical treatment, e.g. punching, cutting, deforming, cold welding
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/04—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for forming connections by deformation, e.g. crimping tool
- H01R43/048—Crimping apparatus or processes
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5136—Separate tool stations for selective or successive operation on work
- Y10T29/5137—Separate tool stations for selective or successive operation on work including assembling or disassembling station
- Y10T29/5143—Separate tool stations for selective or successive operation on work including assembling or disassembling station and means to machine product
- Y10T29/5145—Separate tool stations for selective or successive operation on work including assembling or disassembling station and means to machine product to sever product to length
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5147—Plural diverse manufacturing apparatus including means for metal shaping or assembling including composite tool
- Y10T29/5148—Plural diverse manufacturing apparatus including means for metal shaping or assembling including composite tool including severing means
- Y10T29/5149—Plural diverse manufacturing apparatus including means for metal shaping or assembling including composite tool including severing means to sever electric terminal from supply strip
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5147—Plural diverse manufacturing apparatus including means for metal shaping or assembling including composite tool
- Y10T29/5148—Plural diverse manufacturing apparatus including means for metal shaping or assembling including composite tool including severing means
- Y10T29/515—Plural diverse manufacturing apparatus including means for metal shaping or assembling including composite tool including severing means to trim electric component
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Improve the positional precision of a pair movable piece of close to each other/separation by a driving source.Relation between setting spacing and spacing deviation amount, misalignment of axe angle, the central point departure of a pair movable piece as deviation form and is stored.Target distance that interval based on the lead-in wire by the lead elements and production method thereof being inserted into substrate is determined and deviation form, the spacing deviation amount in the case of target distance, misalignment of axe amount, central point departure (S25) is obtained by interpolation, consider the corrected value corresponding with these departures, generate the control instruction value that x-axis motor, y-axis motor, θ motor, P motor are controlled, and be controlled (S26～28).As a result of which it is, the position of a pair movable piece can be controlled accurately, it is possible to arrive and be controlled in the way of being located at the through hole of substrate position in opposite directions making to draw line pluging handhole.The lead-in wire of lead elements and production method thereof can be inserted into well and draw line pluging handhole, it is possible to carry out cut-out well and clench.
Description
Technical field
The present invention relates to a kind of possess can close to each other/separate a pair movable piece to substrate operation machine.
Background technology
In patent documentation 1, record use be set as can close to each other/separate a pair sensing member to measure gear
The transverse tooth thickness determinator of transverse tooth thickness.In this transverse tooth thickness determinator, a pair sensing member drive source by one and the most close/
Separate.
Patent documentation 1: Japanese Unexamined Patent Publication 5-209703 publication
Summary of the invention
The problem of the present invention is the improvement to substrate operation machine of a pair movable piece possessing close to each other/separation, such as,
Improve the positional precision of a pair movable piece.
In the present invention in substrate operation machine, it is possible to the close to each other/position of a pair movable piece that separates is based on logical
Cross and shoot what the view data obtained was controlled.
If based on shooting the view data that a pair movable piece is obtained in practice, then can accurately obtain a pair
The physical location of movable piece.The physical location that can accurately obtain a pair movable piece (such as, is referred to as hypothesis not away from target location
There is the position in the case of error.In other words, assume that the position in the case of moving according to control instruction value) deviation
Amount.As a result of which it is, the physical location of a pair movable piece can be made close to target location, it is possible to increase the position essence of a pair movable piece
Degree.
For a pair movable piece, the device institute that the cut-out that such as can be set to carry out being inserted into the lead-in wire of circuit substrate clenches
The parts used, it is possible to be set to that there is the parts drawing line pluging handhole supplying lead-in wire to insert or the cutting edge with cut-out lead-in wire
Parts or there are the parts etc. of kink of bending lead-in wire.
Accompanying drawing explanation
Fig. 1 is the solid representing the lead elements and production method thereof assembly machine including that the cut-out of one embodiment of the present invention clenches device
Figure.This cut-out clenches the example to substrate operation machine that device is one embodiment of the present invention.
Fig. 2 is the axonometric chart representing the component inserter contained by above-mentioned lead elements and production method thereof assembly machine.
Fig. 3 is the solid that above-mentioned cut-out clenches the substrate transfer apparatus contained by device and above-mentioned lead elements and production method thereof assembly machine
Figure.
Fig. 4 is the axonometric chart that above-mentioned cut-out clenches device.
Fig. 5 is the axonometric chart of the major part representing that above-mentioned cut-out clenches device.
Fig. 6 is that above-mentioned cut-out clenches the cut-out contained by device and clenches the partial sectional view of unit.
Fig. 7 is the block diagram controlling device conceptually representing above-mentioned lead elements and production method thereof assembly machine.
Fig. 8 (a), Fig. 8 (b) are that above-mentioned cut-out clenches the work sheet of unit and (represents and cut off and bend the state of lead-in wire
Figure).
Fig. 9 is the stream that the departure representing and being stored in the storage part controlling device that above-mentioned cut-out clenches device obtains program
Cheng Tu.
Figure 10 is the flow chart that the cut-out representing and being stored in above-mentioned storage part clenches program.
Figure 11 be represent with by performing above-mentioned departure and obtain program and that the change of the settings spacing that obtains is accompanied being inclined
The figure of the change of residual quantity.Figure 11 (a) is spacing deviation amount, and Figure 11 (b) is misalignment of axe angle, Figure 11 (c) central point departure.
Figure 12 is the physical location conceptually representing the movable piece obtained by performing above-mentioned departure acquirement program
The figure of the departure away from target location.
Figure 13 is that the coordinate axes representing above-mentioned lead elements and production method thereof assembly machine clenches the relative of the coordinate axes of unit with above-mentioned cut-out
The figure of position relationship.
Figure 14 is to represent the figure that above-mentioned cut-out clenches the physical location of unit and the relation of target location.Figure 14 (a) is 0 ＜
The situation that θ ＜ is 90 °, Figure 14 (b) is the situation of θ=0.
Detailed description of the invention
Hereinafter, with reference to the accompanying drawings of one embodiment of the present invention.Additionally, the present invention is in addition to following embodiment,
Also being able to knowledge based on those skilled in the art, to implement various change, the various forms of improvement realize.
As it is shown in figure 1, as a kind of lead elements and production method thereof assembly machine bag of automatic assembling device (electronic circuit assembling device)
Include (a) assembling device main body 10, (b) substrate transfer apparatus 12, (c) component supplying apparatus 14, (d) component inserter 16 and
E () is cut off and is clenched device 18 etc..
Substrate transfer apparatus 12 is to carry with the posture of level and the dress of holding circuit substrate P (afterwards, referred to as substrate P)
Put.In FIG, x is the carrying direction of substrate P based on substrate transfer apparatus 12, and y is the width of substrate P, and z is substrate P
Thickness direction, i.e. the above-below direction of lead elements and production method thereof assembly machine.These x directions, y direction, z direction are mutually orthogonal.
Component supplying apparatus 14 is supplied with being assemblied in the device of the element of substrate P, for instance, it is possible to be set to include multiple belt
The device of loader or include the device etc. of multiple pallet.In the present embodiment, supply possesses the element of lead-in wire, i.e. draws
Kind of thread elements.
The lead elements and production method thereof inserting it into that component inserter 16 receives in component supplying apparatus 14 supply is located at by base
The through hole of the predetermined position of the substrate P that plate Handling device 12 keeps.Component inserter 16 is located at board carrying dress
Put the top of 12, as in figure 2 it is shown, include two operations 20,21 and operation head moving device 22.Operation head moving device 22 wraps
Include x direction mobile device 24, y direction mobile device 25 and z direction mobile device 26,27.Operation 20,21 can pass through x side
Move integratedly towards the optional position in horizontal plane to mobile device 24 and y direction mobile device 25, it is possible to moved by z direction
Dynamic device 26,27 is the most movable in the z-direction.It is first that an operation 20 in two operation heads possesses holding lead-in wire
The element of part keeps instrument 28 (for instance, it is possible to being set to chuck, suction nozzle etc.).Camera 30 is the reference position mark shooting substrate P
Arrange for the purpose of note (reference mark), be set as to move integratedly with operation 20.In the present embodiment, camera
30 are fixably attached to be provided with the z sliding part of operation 20 in the way of loading and unloading.
Cut-out clenches device 18 and is located at the lower section of substrate transfer apparatus 12, is formed at substrate P by being inserted from above into
The part prominent from the lower section of substrate P of the lead-in wire of the lead elements and production method thereof of through hole is with predetermined length cut-out and the back of the body along substrate P
Face bending is so that the device that engages with substrate P of lead elements and production method thereof.As shown in Fig. 3～Fig. 6, cut-out clenches device 18 and includes cutting off
Clench unit 34 and make cut-out clench unit 34 to move the unit mobile device 36 of (include rectilinear movement and rotate).
Cut-out clenches that unit 34 includes (a) unit main body 38, (b) is remained by unit main body 38 can be the most straight
Line ground a pair first movable part 40a of movement, 40b, (c) is each remained by first movable part 40a, 40b can be along level side
It is located at unit main body 38 and by making a pair first movable parts to a pair second movable parts 42a, 42b and (d) of relative movement
40a, 40b be close to each other/and separate and change the spacing change device at the interval (spacing) of these a pair first movable parts 40a, 40b
44 etc..
Spacing change device 44 includes (1) spacing change motor (hreinafter referred to as P motor) as the source of driving
46, the rotation transformation of P motor 46 is rectilinear movement and makes the motion of a pair first movable part 40a, 40b rectilinear movements become by (2)
First guide rail 48 etc. of unit main body 38 is located in converting mechanism 47 and (3) horizontally extendingly.Motion changing mechanism 47 includes
(i) possess coaxially the externally threaded item 52 in right-hand thread portion 50 and left-hand thread portion 51 and (ii) respectively with right-hand thread portion 50, left spiral shell
A pair nut 53a, 53b that stricture of vagina portion 51 screws togather.At nut 53a, 53b, it is possible to maintain the most movably and have and first
First movable part main body 54a of the holding section between guide rail 48,54b.A pair is made by the work of spacing change motor 46
First movable part 40a, 40b be close to each other/separate, change the spacing between a pair first movable parts 40a, 40b.
As shown in Figure 6, at a pair first movable part main bodys 54a, 54b, respectively via the second movable part mobile device 56a,
56b can maintain a pair second movable parts 42a, 42b relatively movably independently along horizontal direction.Second movable part moves dress
Put 56a, 56b and include that (a) is respectively fixedly located at the gas driving source as the second movable part of the first movable part main body 54a, 54b
Running transform on the z direction of the output shaft of cylinder 60a, 60b is the movement in horizontal direction and makes by cylinder 60a, 60b, (b)
Motion changing mechanism 62a that second movable part 42a, 42b moves in the horizontal direction, 62b and (c) are located at horizontally extendingly
Each the first movable part main body 54a, second guiding groove 63a, 63b etc. of 54b.Motion changing mechanism 62a, 62b include cam machine
Structure, including be located at the first movable part main body 54a, 54b and be formed inclination cam path cam 64a, 64b and as respectively with
Roller 65a, 65b of the cam follower of the cam path engaging of cam 64a, 64b, at roller 65a, 65b, moving integratedly
Mode maintain the second movable part main body 66a of the holding section having between second guiding groove 63a, 63b, 66b.In this reality
Executing in mode, cam 64a, 64b lift along with the lifting of the output shaft of work based on cylinder 60a, 60b, accompany with this
Ground, second movable part 42a, 42b be close to each other/separate.
First movable part 40a, 40b have along vertical extend draw line pluging handhole 68a, 68b.Draw line pluging handhole 68a,
68b has opening in the upper surface of first movable part 40a, 40b, and this edge of opening is set as fixed blade 70a, 70b.With this phase
Right, the upper end of second movable part 42a, 42b is generally formed into L-shaped shape, has along portion extended above with almost in directly
The part of ground, angle bending.This part at right angles to bent, i.e. sword forming portion 74a, 74b are positioned at first movable part 40a, 40b's
The top of upper surface, with draw the opening of line pluging handhole 68a, 68b in opposite directions be formed in part with the most through lead-in wire
Bullport 76a, 76b.Sword forming portion 74a, the lower ending opening edge of wires guides hole 76a, 76b of 74b are set as movable sword
78a、78b。
In the present embodiment, first movable part 40a, 40b corresponds to a pair movable piece, but also is able to think that first can
Dynamic portion 40a, 40b correspond partly to movable piece 80a, 80b including the opening drawing line pluging handhole 68a, 68b.It addition,
Due to first movable part 40a, 40b and second movable part 42a, 42b, be set as by spacing change device 44 can be along level
Direction is moved integratedly, also therefore is able to think and (is particularly wrapped by first movable part 40a, 40b and second movable part 42a, 42b
Include sword forming portion 74a of wires guides hole 76a, 76b, 74b upper end open edge in interior part) constitute movable piece.
X direction mobile device 86 that unit mobile device 36 includes making cut-out clench unit 34 moves in the x-direction, along y side
To the y direction mobile device 87 of movement, z direction mobile device 88 movable in the z-direction and the θ rotary apparatus rotated around plumb line
89 etc..
As shown in Figure 3, Figure 4, x direction mobile device 86 includes that (1) x-axis motor 90 (with reference to Fig. 7), (2) are prolonged along the x-axis direction
The rotation transformation of x-axis motor 90 is that the ball screw framework 92 and (4) moved linearly is by ball by x-axis guiding piece 91, (3) stretched
The x sliding part 93 that the nut 92N of screw mechanism 92 keeps and engages with x-axis guiding piece 91.
Y direction mobile device 87 is located at x sliding part 93, and the y-axis extended in the y-direction including (1) y-axis motor 94, (2) guides
Part 95, (3) ball screw framework 96 and (4) are kept by the nut 96N of ball screw framework 96 and engage with y-axis guiding piece 95
Y sliding part 97 etc..
Z direction mobile device 88 is located at y sliding part 97, the guiding piece extended in the z-direction including (1) z-axis motor 100, (2)
101, (3) ball screw framework 102 and (4) are kept by the nut of ball screw framework 102 and on the other hand block with guiding piece 101
The z sliding part 103 etc. closed.Z sliding part 103 also has the function of the unit supports parts clenching unit 34 as support cut.
θ rotary apparatus 89 is located at z sliding part (unit supports parts) 103, makes cut-out clench unit 34 around vertical including (1)
Line rotate drive motor 104 (hreinafter referred to as θ motor 104) and (2) along with θ motor 104 rotation and around plumb line
The turntable 106 rotated, can be provided with unit main body 38 in the way of rotating integratedly on turntable 106.
In the present embodiment, in the case of θ is 0, cut off the coordinate system (xc, yc, zc) clenching unit 34 and lead-in wire
(x, y z) unanimously, but make cut-out clench unit 34 by θ rotary apparatus 89 and revolve around plumb line the coordinate system of component mounting machine
Turning, so that coordinate system (xc, yc, zc) is relative to coordinate system, (x, y z) rotate around z-axis.Hereinafter, representing that cut-out clenches unit
In the case of the coordinate system of 34, mark suffix c and distinguish with the coordinate system of lead elements and production method thereof assembly machine.
It addition, in cutting off the coordinate system clenching unit 34, the moving direction of first movable part 40a, 40b is (close/to separate
Direction) it is set as xc direction, movable piece 80a, 80b are positioned on xc axle.
Lead elements and production method thereof assembly machine entirety is controlled by the main control unit 140 based on computer.Based on computer
Component feeding control portion 142, board carrying control portion 144, element insert control portion 146 and cut off clench control portion 148 etc.
It is connected with main control unit 140 in the way of can being in communication with each other.These control portions 142,144,146,148 control above-mentioned respectively
Component supplying apparatus 14, substrate transfer apparatus 12, component inserter 16, cut-out clench device 18.It addition, P motor 46, x-axis
Motor 90, y-axis motor 94, z-axis motor 100, θ motor 104 etc. clench control portion via not shown drive circuit with cut-out
148 connect.
Additionally, in lead elements and production method thereof assembly machine, control portion might not be set each device such as counter element feedway 14,
Also being able to instruction based on main control unit 140 and control whole devices etc., the structure controlling device is not limited to this enforcement
Mode.
＜ cuts off the work ＞ clenching device
{ cut-out clenches work }
In this lead elements and production method thereof assembly machine, as shown in Fig. 8 (a), Fig. 8 (b), will be provided with the lead-in wire unit of two lead-in wires La, Lb
Part A is assemblied in the predetermined position of the substrate P carried by substrate transfer apparatus 12.
Lead elements and production method thereof A supplied by component supplying apparatus 14 is held by the operation 20,21 of component inserter 16, passes through
Lead-in wire La, Lb are inserted into and are formed at through hole 170a, 170b of substrate P and are placed in substrate P.On the other hand, cutting
Disconnected clench in device 18 so that draw line pluging handhole 68a, 68b arrive with through hole 170a, 170b position in opposite directions (with lead-in wire La,
The position that Lb is corresponding) mode make cut-out clench unit 34 to move along x, y direction, and rotate around plumb line.It addition, so that one
The spacing drawn between line pluging handhole 68a, 68b is become the spacing (spacing of through hole 170a, 170b) with lead-in wire La, Lb almost
Identical mode make a pair movable piece 80a, 80b close/separate.
As shown in Fig. 8 (a), lead-in wire La, Lb via substrate P through hole 170a, 170b, wires guides hole 76a, 76b and
Line pluging handhole 68a, 68b are drawn in arrival.In this condition, by making second movable part 42a, 42b and first movable part 40a, 40b phase
To movement, as shown in Fig. 8 (b), lead-in wire La, Lb are cut-off and are bent.Leading section Lad, Lbd of cut-off lead-in wire via
Path is housed to the refuse bin 172 (with reference to Fig. 6) being installed on main body 38.
But, there are following situation: because of the problem of machining accuracy, the step-up error of guiding piece 48 of externally threaded item 52
Deng and cause the position deviation drawing line pluging handhole 68a, 68b, lead-in wire La, Lb of lead elements and production method thereof A cannot via through hole 170a,
170b is inserted into well and draws line pluging handhole 68a, 68b.
Such as, as shown in Figure 14 (a), insert lead-in wire at through hole 170a, 170b of position R1, R2 of being formed at substrate P
In the case of lead-in wire La, Lb of element A, in the way of being formed as the posture represented by solid line, control cut-out clench unit 34.Tool
Say body, make the central point C of a pair movable piece 80a, 80b (with reference to Fig. 5.And draw between the central point of line pluging handhole 68a, 68b
Central point is identical.) move in the horizontal direction in the way of arriving target's center's point Cref, make a pair movable piece 80a, 80b pass through
Straight line, i.e. axis alpha rotates around plumb line in the way of parallel with object axis α ref.It addition, to become target distance Pref
Mode change the spacing of a pair movable piece 80a, 80b.But, there are following situation in practice: to represented by dotted line
Position is moved, and central point is positioned at C*, and actual spacing becomes P*, and axis becomes α *, and a pair movable piece 80a, 80b are positioned at Q1, Q2
And deviate from target location R1, R2.
Additionally, in the case of the assembling carrying out lead elements and production method thereof A, between target's center's point Cref, object axis α ref, target
It is towards the rigging position of substrate P, posture, the decision such as interval of lead-in wire by lead elements and production method thereof A away from Pref, as described later, is referred to as vacation
It is located in the case of not carrying out the assembling of lead elements and production method thereof A and there is not position in the case of error etc., value.Such as, it will be assumed that make
Movable piece 80a, 80b move according to control instruction value in the case of, the position of movable piece 80a, 80b be referred to as target location, will
The position of central point is referred to as target's center's point etc..
It addition, below, the position of movable piece 80a, 80b is referred to as drawn the position of the central point of line pluging handhole 68a, 68b, will
The central point of movable piece 80a, 80b referred to as draws the central point between the respective central point of line pluging handhole 68a, 68b.
And, in Figure 12 (a)～Figure 12 (d), Figure 14 (a), Figure 14 (b), expand mark deviation for the ease of understanding,
But the deviation in reality is minimum.
On the other hand, it is in off working state at x-axis motor 90, y-axis motor 94, θ motor 104 and only makes P motor 46 work
In the case of work, in the case of assuming to there is not error etc., a pair movable piece 80a, 80b should on xc axle linearly phase mutual connection
Closely/separate.Central point C is in identical point all the time, and axis alpha should be consistent with xc axle.But, in practice, such as Figure 12 (a)～figure
Shown in 12 (d), there are a pair respective physical location of movable piece 80a, 80b (representing with the circle of thick line) from target location
The situation that (representing with three layers of circle) deviates.It addition, along with the deviation of a pair movable piece 80a, 80b, such as Figure 12 (b), Figure 12
Shown in (d), there are following situation: virtual center point C* of movable piece 80a, 80b also deviates from target's center's point Cref, actual
Axis alpha * tilts also relative to xc axle, and actual pitch P* also becomes and the target distance corresponding to the control instruction value of P motor 46
The size that Pref is different.
On the other hand, with first movable part 40a, 40b, there is driving at spacing change device 44 the most one by one
In the case of source, at central point C on xc axle (on the axis that a pair movable piece 80a, 80b pass through) in the case of deviation, it is possible to
Central point C is made to put Cref close to target's center by the independent control driving source.But, for a pair movable piece 40a,
In the case of 40b has a driving source, it is difficult to come correction center point C's by this control driving source (P motor 46)
Deviation.It addition, in the case of departing from from xc axis at central point C and deviateing, even if in the case of possessing independent driving source,
Also the deviation of correction center point C it is difficult to.
Then, in the present embodiment, lead elements and production method thereof is not being carried out in the case of the assembling of substrate P, in other words, not
Under the state of carrying substrate P, make target distance Pref change, make the control instruction value of P motor 46 change, while obtaining real
The respective position of movable piece 80a, 80b on the border departure far from target location.Actual movable piece 80a that further, use obtains,
The departure of the respective position of 80b, obtains (x) virtual center point C* departure (the central point deviation away from target's center's point Cref
Amount), (y) actual deviation (misalignment of axe by the angle between axis alpha * and object axis α ref of movable piece 80a, 80b
Angle), departure (spacing deviation amount) between actual pitch P* of (z) movable piece 80a, 80b and target distance Pref, will be with mesh
Relation table between mark spacing (or control instruction value) format (following, to would indicate that the form of these relations is referred to as deviation form) and
Storage.Further, based on the departure obtained from deviation form, obtain corrected value, based on corrected value, generate for x-axis motor 90,
The control instruction value of y-axis motor 94, P motor 46, θ motor 104 etc..Hereinafter, the target being changed when obtaining deviation form
Spacing is referred to as setting spacing.This is to distinguish with the target distance in actual control.
Additionally, the departure that might not obtain between physical location and target location, it is also possible to only obtain two movably
The physical location of part 80a, 80b.It reason for this is that, target location is known.
{ acquirement of deviation form }
By perform Fig. 9 flow chart represented by deviation obtain program, obtain movable piece 80a, 80b physical location with
Departure between target location, obtains deviation form.In this program, set spacing P and be worth P0 and end value P (n) in the early stage
Between periodically change in units of Δ P.
In step 1 (hreinafter referred to as S1.The most identical for other steps), in S2, cut off clenching unit 34 and pass through unit
Mobile device 36 and move horizontally towards predetermined locating, make cut-out clench the coordinate system (xc, yc, zc) of unit 34 with
(x, y, z) consistent mode rotates around plumb line with the coordinate system of lead elements and production method thereof assembly machine.In S3, set spacing P (j) and set
For initial value P0 (j=0).In S4, it is judged that { whether=P0+j Δ P:j=0～n} is end value P (n) to set spacing P (j)
{=P0+n below Δ P}.Owing to being judged as "Yes" in the case of initially performing S4, therefore in S5, according to setting spacing
P0 generates control instruction value and controls P motor 46.In this condition, in S6, S7, by camera 30 actual photographed a pair respectively
Movable piece 80a, 80b, thus obtain view data.Further, based on the view data obtained, movable piece 80a, 80b are obtained each
The physical location departure away from target location, in S8, set up corresponding relation with setting spacing P0 and store.
In detail, clench control portion 148 from cut-out and export " the shooting instruction of movable piece 80a, 80b ".Insert at element
In device 16, make operation 20 towards primary importance (movable piece can shooting in movable piece 80a, 80b, i.e. movable piece 80a
Position) mobile, by one movable piece 80a of camera 30 actual photographed.Then, operation 20 is made (can to clap towards the second position
Take the photograph the position of another movable piece 80b) mobile and actual photographed another movable piece 80b.Further, control portion 146 is inserted from element defeated
Go out obtained view data, and clench control portion 148 in cut-out and receive this view data.In cut-out clenches control portion 148,
Obtain the position on actual (xc, yc) coordinate of movable piece 80a, 80b, obtain the departure between target location.Such as,
In the case of Figure 12 (a) Suo Shi, it is respectively directed to movable piece 80a, 80b, obtains movable piece 80a, 80b with being shown below each
The physical location departure { x-component on coordinate (xc, yc), y-component } away from target location.
Da (0)={ dxa (0), dya (0) }
Db (0)={ dxb (0), dyb (0) }
Further, in S9, make setting spacing changes delta P, in S10, make j increase by 1, in S4, it is judged that to set spacing P
(1) be whether end value P (n) below.Now, owing to being judged as "Yes", the most repeatedly perform S5～S10.Hereinafter, between setting
Being end value P (n) period below away from P (j), repeatedly perform S5～S10, make setting spacing P (j) changes delta P every time, acquirement can
Departure between the respective physical location of moving part 80a, 80b and target location.Wherein, ratio is become finally when setting spacing P (j)
When value P (n) is big, the judgement of S4 is "No", in S11, generates deviation form.
In S11, it is based respectively on the departure { da (j), db (j) } of the position of movable piece 80a, 80b of acquirement, obtains
X () spacing deviation amount dp (j), (y) misalignment of axe angle d θ (j), (z) central point departure dC (j), set up with setting spacing P (j)
Corresponding relation also stores.Such as, in the case of Figure 12 (b) Suo Shi, obtain spacing deviation amount dp (k-1), central point inclined
Residual quantity dC (k-1)={ dx0 (k-1), dy0 (k-1) }, misalignment of axe angle d θ (k-1), set up corresponding closing with setting spacing P (k-1)
It is and stores, in the case of Figure 12 (d) Suo Shi, obtaining spacing deviation amount dp (k+1), central point departure dC (k+1)
={ dx0 (k+1), dy0 (k+1) }, misalignment of axe angle d θ (k+1), set up corresponding relation with setting spacing P (k+1) and deposit
Storage.
Setting spacing P (j) that obtains as described above shown in Figure 11 (a), Figure 11 (b), Figure 11 (c), spacing deviation
Measure an example of the relation between dp (j), misalignment of axe angle d θ (j), central point departure dC (j), i.e. deviation form.Expect
In advance obtain deviation form, and be stored in advance in cut off clench control device 148 storage part.
Additionally, Δ P both can be positive value, it is also possible to be negative value, setting spacing both can be cumulative, it is also possible to decrescence.
It addition, deviation form might not be previously generated and stores in advance.It reason for this is that, as long as between clearly setting
The physical location away from P (j) and a pair movable piece 80a, 80b relation between the departure of target location, can obtain every time
Spacing deviation amount dp, misalignment of axe angle d θ, central point departure dC.
{ actual control based on deviation }
Clench program by the cut-out performed represented by the flow chart of Figure 10 and carry out lead-in wire La, Lb of lead elements and production method thereof A
Cut-out clenches.
In S21, move into substrate P, in S22, obtain and be inserted into multiple (m) lead elements and production method thereof A (i) (i of this substrate P
=0～m-1) each autocorrelative information.Specifically, about each lead elements and production method thereof A (i), obtain respectively by lead elements and production method thereof A (i)
Be assemblied in target's center's point Cref (i) { xref (i), yref (i) } that the position of substrate P determined, by two lead-in wires La (i),
Target distance Pref (i) that the spacing of Lb (i) is determined, it is assemblied in the mesh that the posture of substrate P is determined by lead elements and production method thereof A (i)
Mark anglec of rotation θ ref (i).In S23, numbering i of lead elements and production method thereof A (i) is set as 0 (i=0), reads in by lead elements and production method thereof A (0)
The information determined.In S24, it is judged that numbering i of lead elements and production method thereof A is less than m.Due in the case of initially performing S24
It is judged as "Yes", therefore in S25, based on target distance Pref (0) and deviation form, obtains the feelings of target distance Pref (0)
Deviation under condition, about x-axis motor 90, y-axis motor 96, P motor 46, θ motor 104, tries to achieve corrected value respectively.Further, at S26
～in S28, based on corrected value, generate control instruction value and be controlled.
In S25, based on deviation form, by interpolation obtain target distance be in the case of Pref (0), spacing is inclined
Residual quantity dp, misalignment of axe angle d θ, central point departure dC.Additionally, here, generally explanation target distance is the situation of Pref (i).
(1) about target distance Pref (i), deviation form based on Figure 11 (a), obtain two settings meeting formula 1
Spacing P (k-1), P (k).
P (k-1)≤Pref (i) ＜ P (k) (formula 1)
(2) and, according to Figure 11 (a), Figure 11 (b), the deviation form of Figure 11 (c), obtain respectively and set spacing P (k-
1) the most stored spacing deviation amount dp (k-1), misalignment of axe angle d θ (k-1), central point departure dx0 (k-1),
Dy0 (k-1) }, obtain and set departure dp (k) of the most stored spacing of spacing P (k), misalignment of axe angle d θ
(k), central point departure { dx0 (k), dy0 (k) }.
(3) by interpolation, spacing deviation amount dpref, axis in the case of acquirement target distance Pref (i) are inclined respectively
Declinate d θ ref, central point departure (dxref ', dyref ').
Dpref=dp (k-1)+{ dp (k)-dp (k-1) } { Pref (i)-P (k-1) }/Δ P
D θ ref=d θ (k-1)+{ d θ (k)-d θ (k-1) } { Pref (i)-P (k-1) }/Δ P
Dxref '=dx0 (k-1)+{ dx0 (k)-dx0 (k-1) } { Pref (i)-P (k-1) }/Δ P
Dyref '=dy0 (k-1)+{ dy0 (k)-dy0 (k-1) } { Pref (i)-P (k-1) }/Δ P
(4) about central point departure, so consider unit mobile device 36 (lead elements and production method thereof assembly machine) coordinate system (x,
Y) with the relative position relation cut off between the coordinate system (xc, yc) clenching unit 34.Central point departure is because cut-out clenches
Error in unit 34 etc. and produce, but this deviation is corrected by the control of unit mobile device 36.Therefore, by sitting
Mark conversion, obtains the central point departure of generation, the seat of unit mobile device 36 in cutting off the coordinate system clenching unit 34
Value in mark system (coordinate system of lead elements and production method thereof assembly machine).Such as, as shown in figure 13, clench unit 34 in cut-out and rotate θ ref
In the case of (i), cut off and clench the seat in unit mobile device 36 of the central point departure (dxref ', dyref ') in unit 34
Mark system is set as the value (wherein, being set to β=θ ref (i)) represented by formula 2,3.
Dxref ← (dxref ' cos β+dyref ' sin β) (formula 2)
Dyref ← (-dxref ' sin β+dyref ' cos β) (formula 3)
As shown in Figure 14 (a), Figure 14 (b), the departure obtained as described above is solid line in cut-out clenches unit 34
Represented position (position in the case of moving according to control instruction value in the case of assuming not exist deviation etc.) is with empty
The difference of the position (physical location) represented by line, with for so that cut off clench the unit 34 side close to the position represented by solid line
Corrected value that formula is controlled, control instruction value is corresponding.
In S26～S28, generate the control that x-axis motor 90, y-axis motor 94, θ motor 104, P motor 46 are controlled
Command value is also controlled.Control instruction value x*, y*, θ *, P*, as shown in formula 4～7, are set as there is not deviation from hypothesis
In the case of control instruction value xref, yref, θ ref, Pref deduct corrected value dxref, dyref, d θ ref, dPref and obtain
Value.
X*=xref-dxref
Y*=yref-dyref
θ *=θ ref-d θ ref
P*=Pref-dpref
In the case of Figure 14 (b) Suo Shi, θ ref (i) is 0, and the control instruction value being therefore controlled θ motor 104 is
(-d θ ref), for the corrected value of x-axis motor 90, y-axis motor 94 be dxref (=dxref '), dyref (=dyref ').
Additionally, in the present embodiment, target amount of movement (rotation amount) is recited as control instruction value, but in reality
In control, there are the supply magnitude of current etc. that determines based on target amount of movement etc. as the situation etc. of control instruction value.
By performing S25～S28, cut-out clenches unit 34 and almost moves towards target location.Such as, at Figure 14 (a), Figure 14
In the case of (b), almost move to position shown in solid.In S29, make cut-out clench unit 34 and rise to wires guides hole
The opening of 76a, 76b is from below close to the height of through hole 170a, 170b of substrate P.Lead-in wire La, Lb warp when lead elements and production method thereof A
Be inserted into when drawing line pluging handhole 68a, 68b by through hole 170a, 170b, in S30, second movable part 42a, 42b is relative to
One movable part 40a, 40b moves the most in the horizontal direction.Thus, lead-in wire La, Lb is cut off and is bent.
Afterwards, in S31, make cut-out clench unit 34 and be decreased until from substrate P separation, in S32, make lead elements and production method thereof
After the numbering of A adds 1, return to S24.Hereinafter, insert multiple lead elements and production method thereof A (i) by repeatedly performing S24～S32,
The cut-out of line lead La, Lb of going forward side by side clenches.Further, after being assembled with whole m lead elements and production method thereof A, the judgement of S24 is "No",
In S33, substrate P is taken out of.
So, in the present embodiment, previously generate deviation form and store.Further, carry out cut-out strike actual
In the case of curved, based on target distance Pref (i) and deviation form, generate corrected value by interpolation, generate x-axis motor
90, the control instruction value that y-axis motor 96, θ motor 104, P motor 46 are controlled.As a result of which it is, a pair movable piece can be made
The physical location of 80a, 80b is well close to target location, it is possible to increase the positional precision of movable piece 80a, 80b.As a result of which it is,
Lead-in wire La, Lb of lead elements and production method thereof A can be precisely inserted into and draw line pluging handhole 68a, 68b.
It addition, by situation less for interval delta P of the setting spacing of S9 compared with bigger situation, it is possible to obtain more detailed
Thin deviation form.Based on deviation form, it is possible to generate accurate corrected value, it is possible to generate control instruction value, it is possible in high precision
Ground controls x-axis motor 90, y-axis motor 94, θ motor 104, spacing motor 46.As a result of which it is, movable piece can be improved further
The positional precision of 80a, 80b.
And, it is also possible to the central point making a pair second movable parts 42a, 42b is the most consistent with target's center's point Cref.Its
As a result, it is possible to make second movable part 42a, 42b move symmetrically relative to target's center's point Cref, it is possible to by two lead-in wires
The respective shearing length of La, Lb, bending angle are set to mutually the same.As a result of which it is, can be difficult to cause because of two lead-in wires La, Lb
In side's bending is not enough, the opposing party bends and excessively substrate P applied the such situation of load.It addition, two can be made to draw
Line La, Lb with respective kink almost in a linear array bending etc., it is possible to carry out cut-out well and clench.
In the present embodiment, by Component units horizontally moving devices such as x-axis mobile device 86, y-axis mobile devices 87, by
θ rotary apparatus 89 Component units rotary apparatus.It addition, represented by the flow chart of the Fig. 9 being clenched control portion 148 by storage cut-out
Departure obtains part that program, the cut-out represented by flow chart of Figure 10 clench the part of program, carry out performing, is stored in figure
The parts of the deviation form conceptually represented in 11 (a)～Figure 11 (c) etc. constitute movable piece position control section.It addition, by can
The part of storage S25, S26 in slide position control portion, the part that performs etc. that carries out constitute and move horizontally control portion, by storing
The part of S25, S28, the part etc. carrying out performing constitute rotation control unit.And, by the storage in movable piece position control section
The part of S25, the part carrying out performing, the part etc. of storage deviation form constitutes central point departure obtaining section, the angle of deviation takes
The portion of obtaining.Additionally, constituted position correction portion by part, the part etc. that carries out performing of storage S25, S26～S28.It addition, by movably
The part of storage S1～S7 in part position control section, the part etc. carrying out performing constitute physical location obtaining section, by storage S11
Part, carry out the part that performs etc. and constitute virtual center point obtaining section.
Additionally, interpolation might not be used, it is also possible to use the P's (k) closest to Pref (i) according only to deviation form
Value.It addition, also be able to obtain correction based on one or two in spacing deviation amount, misalignment of axe angle, central point departure
Value.And, there is also the ability of with good grounds camera and do not make camera a pair these both sides of movable piece 80a, 80b of 1 shooting movably
Situation.
It addition, the invention is not limited in that cut-out clenches unit, it is possible to be widely used in a pair can close/separate
The position control of movable piece.
Description of reference numerals
18: cut off and clench device
34: cut off and clench unit
36: unit mobile device
40: the first movable parts
42: the second movable parts
44: spacing change device
68: draw line pluging handhole
72: movable piece
86:x shaft moving device
87:y shaft moving device
88:z shaft moving device
89: θ rotary apparatus
170: through hole
Claims (6)
1. cut-out clenches a device, and the protuberance that the two of lead elements and production method thereof go between is cut off and bent, described lead elements and production method thereof
Two through holes that two lead-in wires are respectively inserted in the multiple through holes being formed at circuit substrate,
Described cut-out clenches device and is characterised by, including:
A pair movable piece, for the situation that the described two respective protuberances that go between are cut off and bend and closer to each other/point
From；And
Movable piece position control section, based on the view data obtained by shooting the pair of movable piece, controls the pair of
The position of movable piece.
Cut-out the most according to claim 1 clenches device, wherein,
This cut-out clenches device and includes: (a) cuts off and clench unit, possesses the pair of movable piece；And (b) unit horizontal moves dress
Put, make this cut-out with clenching unit horizontal mobile,
Described movable piece position control section includes: (i) central point departure obtaining section, obtains and obtains based on described view data
The departure i.e. central point departure of virtual center point and target's center's point of the pair of movable piece；And (ii) moves horizontally
Control portion, controls described unit horizontal based on the described central point departure obtained by this central point departure obtaining section and moves
Device, makes the virtual center point of the pair of movable piece close to described target's center point.
Cut-out the most according to claim 1 and 2 clenches device, wherein,
Closer to each other/the separation by a driving source of the pair of movable piece.
4. clench device according to the cut-out according to any one of claims 1 to 3, wherein,
This cut-out clenches device and includes: (a) cuts off and clench unit, possesses the pair of movable piece；And (b) finite element rotation device,
Make this cut-out clench unit to rotate around plumb line,
Described movable piece position control section includes: (i) misalignment of axe angle obtaining section, obtains and obtains based on described view data
The actual axis passed through of the pair of movable piece and the angular deviation i.e. misalignment of axe angle of object axis；And (ii) Spin Control
Portion, controls described finite element rotation device based on the described misalignment of axe angle obtained by this misalignment of axe angle obtaining section, makes reality
The described axis passed through is close to the posture parallel with described object axis.
5. clench device according to the cut-out according to any one of Claims 1 to 4, wherein,
Described movable piece position control section includes:
I () physical location obtaining section, based on described view data, obtains the respective physical location of the pair of movable piece；And
(ii) position correction portion, according to based on the respective actual bit of the pair of movable piece obtained by this physical location obtaining section
Put and obtain the virtual center point of (x) the pair of movable piece and departure i.e. central point departure, (y) of target's center's point
The actual axis passed through of the pair of movable piece is the pair of movably with the angular deviation i.e. misalignment of axe angle of object axis and (z)
The actual pitch of part and more than one in the departure of target distance i.e. spacing deviation amount, correct the pair of movable piece
Position.
6. to a substrate operation machine, possess by driving source the most closer to each other/separate a pair movable
Part, described is characterised by substrate operation machine,
Described substrate operation machine is included:
Filming apparatus, shoots the pair of movable piece respectively；
Virtual center point obtaining section, the view data obtained based on shooting the pair of movable piece by this filming apparatus, take
Obtain the virtual center point of the pair of movable piece；And
Movable piece position control section, based on the described virtual center point obtained by this virtual center point obtaining section away from target's center's point
Departure i.e. central point departure, control the position of the pair of movable piece.
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| CN110381716A (en) * | 2018-04-13 | 2019-10-25 | Juki株式会社 | Mounting device, installation method |
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| CN110730612B (en) * | 2019-10-24 | 2021-06-29 | 冷晓勇 | Riveting foot mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| EP3125663A4 (en) | 2017-05-31 |
| US10375869B2 (en) | 2019-08-06 |
| EP3125663A1 (en) | 2017-02-01 |
| EP3125663B1 (en) | 2020-04-22 |
| JP6333957B2 (en) | 2018-05-30 |
| CN110650620B (en) | 2021-05-28 |
| US20170118879A1 (en) | 2017-04-27 |
| CN106134308B (en) | 2019-10-11 |
| WO2015145730A1 (en) | 2015-10-01 |
| CN110650620A (en) | 2020-01-03 |
| JPWO2015145730A1 (en) | 2017-04-13 |
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